Enhance IIWA Robot Configuration and Launch Files

- Updated iiwa7 URDF Xacro to include command and state interfaces for position and effort with defined limits for all joints.
- Modified setting_loader.py to include new fields for command_mode and description in the RobotCfg dataclass and settings loading process.
- Created iiwa.launch.py to manage the launch of the IIWA robot, integrating MoveIt configurations and RViz support.
- Added iiwa_controllers.launch.py to set up the controller manager and spawner for the IIWA robot.
- Introduced iiwa_hardware_interface_plugin.xml to define the hardware interface for the KUKA IIWA 7 robot.
- Added iiwa7_fri.urdf.xacro to support FRI (Fast Robot Interface) with appropriate command and state interfaces for each joint.

src/iiwa_utils/iiwa_utils/setting_loader.py

@@ -13,6 +13,8 @@ class RobotCfg:
     name: str
     ip: str
     port: int
+    command_mode: str
+    description: str
 
 
 @dataclass(frozen=True)
@@ -153,6 +155,8 @@ def build_settings(settings_path: str, check_files: bool = True) -> Settings:
         name=str(require(robot_raw, "name")),
         ip=str(require(robot_raw, "ip")),
         port=int(require(robot_raw, "port")),
+        command_mode=str(require(robot_raw, "command_mode")),
+        description=resolve_path(str(require(robot_raw, "description")), settings_dir),
     )
 
     # digital_twin
@@ -205,6 +209,7 @@ def build_settings(settings_path: str, check_files: bool = True) -> Settings:
     s = Settings(robot=robot, digital_twin=digital_twin, controller=controller)
 
     if check_files:
+        assert_file(s.robot.description, "robot.description")
         assert_file(s.digital_twin.webots.world, "digital_twin.webots.world")
         assert_file(s.digital_twin.rviz.config, "digital_twin.rviz.config")
         assert_file(s.digital_twin.description, "digital_twin.description")